#ifndef __GRAB_TASK_H__
#define __GRAB_TASK_H__

#include "ble_remote.h"
#include "cmsis_os.h"
#include "main.h"
#include "tim.h"

#define FORHEAD_MIN_ANGLE 30
#define FORHEAD_MAX_ANGLE 110
#define BACKHEAD_MIN_ANGLE 0
#define BACKHEAD_MAX_ANGLE 100
#define ANGLE_STEP 1

typedef enum { FORHEAD, BACKHEAD } Steer;

typedef struct _GRAB_CONTROL_T {
  const remote_t *grab_RC;
  uint16_t forangle;
  uint16_t backangle;
} Grab_Control_t;

#endif  // !__GRAB_TASK_H__
